This report details the PATH proving test results during the period of October 6 to December 1, 2000 on the test track of the Public Works Research Institute (PWRI) of the Ministry of Construction in Tsukuba City, Japan. This work is related to the "Attachment 5: System Evaluation by Proving...

This project is a one-and-half year research and experimental effort that builds on the results of as well as supplements the efforts in MOU 250, "Experimental Studies on Vehicle Control Systems." It focuses on an emerging issue of the high-speed steering control: how to conduct robust automatic...

We have enhanced and "tuned" SmartAHS and SHIFT to address a wide variety of functional and user needs. SmartAHS has become an important microsimulation tool for design, analysis and evaluation of AHS - and "pre-AHS" or AHS deployment - concepts and scenarios in dimensions of system performance...

Keywords longitudinal control, car platooning, back-stepping control, multi-surface dynamic sliding mode control, integral filters, realtime control code This report presents the development of nonlinear longitudinal controllers and their realtime implementation for Automated Highway Systems...

The objectives of the project are: (1) to study the behavior of existing vehicle lateral control systems in the event of magnetometer failures, (2) to design controllers that use the output from only one set of magnetometers, and (3) to develop an autonomous lateral control scheme that uses no...

This report describes the results of an effort to implement and analyze the performance a vehicle control system using control state information obtained from a carrier phase Differential Global Positioning System (DGPS) aided Inertial Navigation System (INS). Keywords: Vehicle Positioning...

This report presents the work on the development of the regulation layer for automated merging. It includes system modeling, control system synthesis, theoretical analysis and real-rime implementation and field test. The essential part is a rather general adaptive merging algorithm. Key words:...

A simple model for a string of vehicles is constructed. The model explicitly accounts for the possibility of repeated collisions between the vehicles in the string. Based on the model a notion of safety is formulated for the string. Necessary and sufficient conditions are presented that specify...

The project "Lateral Control of Heavy Duty Vehicles for Automated Highway Systems" (MOU 313) represents continuation of the heavy vehicle research in PATH which was initiated in 1993 with MOU 129, "Steering and Braking Control of Heavy Duty Vehicles" and was followed with MOU 242, "Steering and...

Advanced Vehicle Control Systems (AVCS) require large numbers of sensors for different levels within the control hierarchy. Whereas all sensors contain uncertainty to some degree, different sensors are particularly useful for specific environmental conditions. Therefore, sensor redundancy is...